Dataset documentation
SOP datasets and ground truth
Dataset documentation now follows the SOP: dataset material under datasets/, truth files under truths/, adapters under adapters/, and no invented sequence lists.
Dataset cards
Five public dataset targets
Each card links to a detail page with GT readiness, SOP paths, adapter expectations, and benchmark stressors.
Drone / MAV
EuRoC MAV
Classic indoor visual-inertial sequences with motion-capture ground truth.
- Modalities
- stereo, imu
- GT status
- TBD
- Truth path
- truths/euroc_mav/<sequence>.txt
High-dynamic FPV
UZH-FPV
Aggressive flight, fast rotations, blur, and rapid viewpoint changes.
- Modalities
- camera, imu
- GT status
- TBD
- Truth path
- truths/uzh_fpv/<sequence>.txt
Large-scale AR
LaMAria
Longer trajectories, calibration sensitivity, and changing scene structure.
- Modalities
- camera, imu
- GT status
- TBD
- Truth path
- truths/lamaria/<sequence>.txt
Field robotics / legged robot
SubT-MRS / GrandTour
Long-horizon robot motion, scene transitions, vibration, and deployment-like degradation.
- Modalities
- camera, imu
- GT status
- Partial
- Truth path
- truths/grandtour/<sequence>.txt
Underwater
Aqualoc
Underwater visual-inertial sequences with archaeological and harbor environments.
- Modalities
- camera, imu
- GT status
- Partial
- Truth path
- truths/aqualoc/<sequence>.txt